Action teaching system and action teaching method

Abstract

To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.

Description

TECHNICAL FIELD[0001]The present invention relates to an action teaching system and an action teaching method to teach actions to a robot that grasps a work object.BACKGROUND ART[0002]Techniques in which shape models of work objects are provided to a robot in advance so that the robot recognizes a work object existing in the working space and automatically grasps the work object have been studied and developed (for example, see Patent document 4). However, although such model-based techniques can be implemented in working spaces in which the types of work objects are limited, it is substantially impossible to apply them to real environments with complex conditions such as ordinary living environments.[0003]Meanwhile, techniques in which an operator teaches actions to a robot have been known (for example, see Patent documents 1 to 3). Patent documents 1 to 3 disclose techniques in which an operator teaches actions to a robot by using an action teaching apparatus with a graphic displa...

AI Technical Summary

Benefits of technology

[0034]The present invention can provide an action teaching system and an action teaching method capable of teaching a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator.

Problems solved by technology

However, although such model-based techniques can be implemented in working spaces in which the types of work objects are limited, it is substantially impossible to apply them to real environments with complex conditions such as ordinary living environments.

However, the action teaching apparatus of Patent document 2 cannot be used to teach operations for a work object whose shape and 3D position are unknown to the robot.

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